EP1352375A1

EP1352375A1 - Method and device for estimating movement parameters of targets

Info

Publication number: EP1352375A1
Application number: EP01991684A
Authority: EP
Inventors: Siegbert Steinlechner; Michael Schlick; Juergen Hoetzel; Thomas Brosche
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2001-01-08
Filing date: 2001-12-22
Publication date: 2003-10-15
Anticipated expiration: 2021-12-22
Also published as: DE50107229D1; JP4044844B2; ES2248411T3; JP2004517420A; EP1352375B1; DE10100413A1; US6785631B2; US20030163280A1; WO2002054369A1

Abstract

The invention relates to a method for determining parameter values, concerning the relative kinematic relationship of an object (10), in particular a first vehicle (10) and a target object (12), in particular a second vehicle (12), whereby a prediction can be made using the parameter values about whether the object (10) and the target object (12) can be expected to collide by means of the following steps: a) provision of a sensor device (11) on the objet (10), said sensor device (11) being provided for the transmission and reception of signals in order to record measured values r>i<, v>r,i< for the target object separation r and/or the relative radial speed v>r< between the object (10) and the target object (11); b) recording measured values r>i<, v>r,i< and c) evaluation of the recorded measured values r>i<, v>r,i< and determination of the parameter values. According to the invention, step c) can be carried out on the basis of the signals received by a receiver. The invention further relates to a device for the determination of parameter values.

Description

METHOD AND DEVICE FOR ESTIMATING DETECTING ARAMETERS OF TARGETS

The present invention relates to a method for specifying parameter values which relate to the relative kinematic behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, it being possible to use the parameter values to make a statement as to whether the object and the target object is likely to collide. The process comprises the following steps:

a) providing a sensor system on the object, the sensor system being provided to transmit and receive signals in order to record measured values ri, _r , i for the target object distance r and / or for the relative radial speed v _{r of} the target object,

b) acquisition of measured values rι, v _ri , and

c) Evaluation of the measured values rj _. , v _r , j_ and specify the parameter values.

The invention further relates to a device for outputting parameter values which determine the relative kinematic see behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, wherein a statement can be made based on the parameter values as to whether the object and the target object are likely to collide. The device has: a sensor system which is arranged on the object, the sensor system being provided to transmit and receive signals in order to obtain measured values ri, _r , ι for the target object distance r and / or for the relative radial speed v _r des Detect target object, and means for evaluating the measured values r 1, v _r , i detected by the sensor system and for outputting the parameter values.

State of the art

For example, in the field of motor vehicle technology, methods for specifying or devices for outputting parameter values are required which relate or describe the relative kinematic behavior of a first vehicle and a second vehicle or any obstacle in order to use these parameter values to make a statement about a possible collision, for example or perform a dead-ink detection. For this purpose sensors are used, for example optical sensors, capacitive sensors, ultrasonic sensors or radar sensors, with which the distance r between the vehicles and / or the relative radial speed v _{r of} the second vehicle are measured within a range to be monitored. It is known from these measurements to determine the radial component of the relative radial acceleration a _{r of} the second vehicle by differentiation of the radial speed. Furthermore, it is known, for example, to determine the radial speed by evaluating the Doppler frequency or by differentiating the distance. According to the prior art, the normal components of the distance, the speed and the acceleration, which are perpendicular to the front area of the motor vehicle, are calculated from the measured values of several spatially distributed sensors by triangulation. For the triangulation, therefore, several spatially distributed transmitting or receiving units or sensors are required, which causes a high level of hardware expenditure. Another problem encountered in the prior art is that even if several sensors are used, only one sensor may receive a signal that can be used for an evaluation. Since the triangulation cannot be carried out in this case, an upcoming collision, for example, cannot be detected.

Advantages of the invention

Because step c) of the method according to the invention can be carried out on the basis of the signals received by only one receiver, that is to say that no triangulation is carried out, the hardware expenditure can be reduced and even if only one sensor receives a signal that can be used for a corresponding evaluation , reliable predictions can be made. The same applies to the device according to the invention, in which the means carry out the evaluation on the basis of the signals received by only one of the receivers assigned to the sensor system.

The following statements relate both to the method according to the invention and to the device according to the invention.

Without being intended to be a limitation, the parameter values preferably relate to one or more of the following parameters: the relative acceleration a of the target object, the relative radial acceleration a _{r of} the target object, the relative speed v of the target object, the relative radial speed v _{r of} the target object , the offset Δy between the object and the target object, the angle α between the vectors of the relative speed v of the target object and the relative radial speed v _{r of} the target object or between the vectors of the relative acceleration a of the target object and the relative radial acceleration a _{r of} the target object. The parameter values for some of these parameters are preferably estimated on the basis of the present measured values, and the parameter values for further parameters are determined on the basis of the estimated parameter values.

For this purpose, a vector p is preferably provided which contains at least some of the parameters sought, this vector p having the shape

hv ₀ , α ₀ ] may have. It is provided that a is the relative acceleration of the target object, vo is the relative initial speed of the target object in the first measurement in the first measurement and α _{0 is} the angle between the vectors of the relative speed v of the target object and the relative radial speed v _r of the target object or the angle between the vectors of the relative acceleration a of the target object and the relative radial acceleration a _{r of} the target object in the first measurement. The first measurement relates to the first measurement of a multiplicity of measurements carried out at different times ti with i = 1, 2, .... The times ti can, but need not, be equidistant. For example, measured values could also be recorded at equidistant target distances.

According to one embodiment of the present invention, it is provided that target object distances r ^ are measured at different times ti, and that the target object distance r is related to:

r = f (p, t) = sj (ι ₀ cos (α ₀₎ + v ₀ t + at ^2/2) ² + (r ₀ sin ₍₀₎ f

where r _{0 is} the target distance in the first measurement, o is the relative initial speed of the target in the first measurement in the first measurement, a is the relative acceleration of the target, t is time, and α _{0 is} the angle between the Vectors of the relative speed v of the target object and the relative radial speed v _r des Target object or the angle between the vectors of the relative acceleration a of the target object and the relative radial acceleration a _{r of} the target object in the first measurement. In particular in this embodiment, the parameter values for the parameters contained in the vector p can be estimated using a standard, as will be explained in more detail later. For the sake of simplicity, the estimation can also be carried out using the values ti, ri ² after squaring the given equation.

According to a second embodiment of the invention, it is provided that relative radial speeds v _r , ι are measured at different times ti, and that the relative radial speed v _{r of} the target object via the relationship:

(v ₀ + at) (r ₀ cos ₍₀₎ + v ₀ t + at ^2/2) v = _r = f (p, t) -

^ io cos (α ₀₎ + v ₀ t + at ^2/2) ² + (r ₀ sin (α ₀₎ f

is described. The parameters r ₀ , v ₀ , a, t and α ₀ correspond to the parameters of the first embodiment.

A third embodiment of the invention provides that target object distances ri and relative radial velocities v _r , i are measured at different times ti, and that the relative radial velocity v _{r of} the target object is related via:

, ..-. , (V ₀ + at) (r _Q cos (α ₀₎ + v ₀ t + at ^2/2 v _r = f (p, t, r) = ^YYU - is described. Here, too, the parameters r ₀ , o, a, t and αo correspond to the parameters of the first embodiment.

The embodiments just described can optionally be combined in a suitable manner or reformulated mathematically.

The standard theory on which the following explanations are based is known to the person skilled in the art. For a more detailed description, please refer to: G. Grosche, V. Ziegler, D. Ziegler: - Supplementary chapters on I. N. Bronstein. K. A. Semendjajew Taschenbuch der Mathematik, 6th edition, B.G. Teubner Verlagsgesellschaft Leipzig, 1979.

To estimate the parameter values, a standard Q (p) is preferably defined as follows in connection with the first embodiment:

Q (P) = Qι (p) = - f ^k (P, X) with k = 1 or k = 2

An example of the definition of the standard Q (p) in connection with the first embodiment can provide the following form:

Q (p) = Q _u (p) = ∑ ( _rι - f ^k (p, t _± )) with k = 1 or k = 2 i

Another example for the definition of the standard Q (p) can provide the following form in connection with the first embodiment: Q (P) = Q ₁₂ ® = max (| r. ^K - f ^k (p, t |), with k = 1 or k = 2

To estimate the parameter values, a standard Q (p) is preferably defined as follows in connection with the second embodiment:

Q (p) = Q ₂ (p) = v. _, - f ^k (p, t.) ||, with k = 1 or k = 2

An example of the definition of the standard Q (p) can provide the following form in connection with the second embodiment:

Q (p) = Q ₂₁ (p) = ∑ (- f ^k (p, tf, with k = 1 or k = 2

Another example of the definition of the standard Q (p) can provide the following form in connection with the second embodiment:

Qp) = Q ₂₂ (p) = maxήv- _, "- f ^k (p, t |), with k = 1 or k = 2

To estimate the parameter values, a standard Q (p) is preferably defined as follows in connection with the third embodiment:

^{Q (p)} = ^Q ₃ ⁽ P ⁾ = f ^k (P. t _α , r.] With k = 1 or k 2.

An example of the definition of the standard Q (p) can provide the following form in connection with the third embodiment: Q (p) = Q ₃₁ (p) = ∑ (v _± ^k - f ^k (p, t _ir )) ² , with k = 1 or k = 2 i

Another example of the definition of the standard Q (p) can provide the following form in connection with the third embodiment:

Q (p) = Q3 ₃₂ (p) = max (| v ₁ ^lc - f (p, t _± , r.) |), With k = 1 or k = 2

As mentioned, the parameter values for the parameters contained in the vector p are preferably estimated on the basis of the measured values.

In this context, it is preferred that the parameter values for the _. Parameters contained in the vector p can be estimated by means of the times ti and the measured values ri for the target object distances and / or the measured values v _r .i for the relative radial speed of the target object using an optimization method by determining the minimum of the standard Q (p) ,

A suitable optimization process that can be used, for example, if the standard Q.p) is the shape

Qp) = Q _n (p) = ∑ (- f ^k (p, t _t ) f, with k = 1 or k = 2, or

Q (P) = Q ₂₁ (P) = ∑ X, ^k - f (p, t _± )) with k = 1 or k = 2, or Q (p) = Q ₃₁ (p) = ∑ (J - f ^k (p, t _ir r _± )) with k = 1 or k = 2 i

is the least squares method known to those skilled in the art.

In some cases, for simplification, it can be assumed that the relative acceleration a of the target object is constant and / or that the acceleration vector a is parallel to the speed vector v. Accordingly, a linear course of the relative speed v of the target object is then assumed. In this context, it is possible, for example, to assume that the relative acceleration is a = 0 m / s ² . Furthermore, it can be assumed that the relative acceleration a = 0 m / s ² if the relative speed v is greater than a predetermined limit value and that the relative acceleration a ≠ 0 m / s2 if the relative speed v is less than is the predetermined limit.

If the estimated parameter values are available for the parameters contained in the vector p, the offset Δy between the object and the target object can be determined via the relationship

Δy = r ₀ sin (α ₀ )

be determined.

From the estimated parameter values of the parameters contained in vector p and the offset Δy between the object and the target object, the instantaneous kel α (t) between the vectors of the relative speed v of the target object and the relative radial speed v _{r of} the target object or between the vectors of the relative acceleration a of the target object and the relative radial acceleration a _{r of} the target object via the relationship

be determined.

It is also possible to use the estimated parameter values of the parameters contained in vector p to determine the relative instantaneous velocity v (t) of the target object via the relationship

v (t) = g + at

to determine.

The amount of the relative instantaneous radial speed of the target object can also be determined from the estimated parameter values of the parameters contained in the vector p via the relationship

| v _r (t) | = | (VQ + at) cos () |

be determined. If an angle β between a normal of the object and the vector of the target distance r is equal to the angle α between the vectors of the relative speed v of the target and the relative radial speed v _{r of} the target or between the vectors of the relative acceleration a of the target and the relative radial acceleration a _{r of} the target object applies to the normal components v _n = v, a _n = a and x = rcos (α) related to the object. In this case, the point in time ti of a possible collision can be determined from the estimated parameter values of the parameters contained in the vector p via the relationship

be determined. When driving past, i is the point in time with the smallest target distance at point P.

It can further be provided that using the estimated parameter values of the parameters contained in the vector p, an error measure e (p) about the relationship

e. (p) = |] r ^k i - f (p, t _i ) IL with k = 1 or k = 2, or

^e ₂ (p) = | ^vk i ~ ^fk (P / ti) / * ^with k = 1 or k = 2, or

e ₃ (p) = | v ^k i - f ^k (p, t _ir rΛ, with k = 1 or k = 2

is defined. The error measure e (p) is intended to provide an error estimate for the estimated parameter values and / or for the parameter values derived from the estimated parameter values. The error measure e (p) enables, for example, the definition of threshold values that can be adapted to the respective application. If these threshold values are exceeded or fallen below, for example, the parameter values for individual parameters can then be classified as invalid.

Any device suitable for carrying out the method according to the invention falls within the scope of protection of the associated claims.

With regard to the means provided in the device according to the invention, it is pointed out that these means can be implemented by the person skilled in the art without any problems using suitable hardware and software or other circuits.

drawings

The invention is explained in more detail below with reference to the accompanying drawings.

Show it:

Figure 1 is a geometric representation of the object and the target object; and

Figure 2 shows the various parameters. Description of the embodiments

In FIG. 1, an object in the form of a first vehicle is provided overall with the reference number 10. A sensor system 11 is arranged on the first vehicle 10. The normal to the front area of the first motor vehicle 10 is designated by 13. A target object in the form of a second vehicle is provided overall with reference number 12. Overall, FIG. 1 shows the case of a drive past, that is, there is no collision. The distance between the first vehicle 10 and the second vehicle 12 is identified by a vector r, the component normal to the front region of the first vehicle 10 is identified by x. An angle β is included between the vectors r and x. When the second vehicle 12 is located at point P, the offset between the first vehicle 10 and the second vehicle 12 is Δy, the initial distance between the point P and the second vehicle 12 being identified by the vector z.

On the basis of the offset Δy, either a drive past or an impending collision can be detected. In this case, the offset Δy is assumed in the horizontal plane (azimuth). It is advisable to measure with a small opening angle in the vertical direction (elevation). For example, if you want to determine the height of the target object, i.e. the offset in the vertical direction, a small opening angle in the azimuth is suitable. In principle, the measurement of the offset is also in a plane inclined to the horizontal or vertical plane with a correspondingly flat antenna. possible diagram. If you measure the offset in two orthogonal planes (e.g. elevation and azimuth), the target coordinates in the monitored space are clearly determined with the target object distance r.

Some important parameters are given in FIG. The initial position of the first vehicle 10 and the second vehicle 12 corresponds to that of FIG. 1. In FIG. 2, the vector arrows show the kinematic behavior of the second vehicle 12. In practice, however, both the first vehicle 10 and the second generally move Vehicle 12 or the target object is not formed by a second vehicle but by a fixed target object. Therefore, as in the preceding, we speak of relative quantities.

The vectors v _r and a _r indicate the relative radial speed and the relative radial acceleration of the second vehicle 12. The vectors v and a indicate the relative speed and the relative acceleration of the second vehicle 12, an angle α being included between the vectors v _r and v or a _r and a. The tangential components of the relative radial speed v _r or the relative radial acceleration a _{r of} the second vehicle, which are perpendicular to the radial components, are indicated by v _t or a _t , the point P being defined by the vectors v _t and a _t or v and a becomes.

The preceding description of the exemplary embodiments according to the present invention serves only to illustrate purposes and not for the purpose of limiting the invention. Various changes and modifications are possible within the scope of the invention without leaving the scope of the invention and its equivalents.

Claims

Expectations

1. Method for specifying parameter values relating to the relative kinematic behavior of an object (10), in particular a first vehicle (10), and a target object (12), in particular a second vehicle (12), using the parameter values a statement can be made as to whether the object (10) and the target object (12) are likely to collide, with the steps:

a) Providing a sensor system (11) on the object (10), the sensor system (11) being provided for transmitting and receiving signals in order to measure values r 1, v _r , i for the target object distance r and / or for the relative radial speed v _{r of} the target object (12),

b) acquisition of measured values r, _r , i, and

c) evaluating the measured values r 1, v _r , i and specifying the parameter values,

characterized in that step c) can be carried out on the basis of the signals received by a receiver.

2. The method according to claim 1, characterized in that the parameter values relate to at least one or more of the following parameters: the relative acceleration a of the target object (12), the relative radial acceleration a _{r of} the target object (12), the relative speed v des Target object (12), the relative radial speed v _{r of} the target object (12), the offset Δy between the object (10) and the target object (12), the angle α between the vectors of the relative speed v des

Target object (12) and the relative radial speed v _{r of} the target object (12) or between the

Vectors of the relative acceleration a of the target

(12) and the relative radial acceleration a _{r of} the target object (12).

3. The method according to claim 1 or claim 2, characterized in that a vector p is provided which contains at least some of the parameters sought, the vector p having the shape

p = [a, v ₀ , α ₀ ]

where a is the relative acceleration of the target (12), Vo is the relative starting speed of the target (12) in the first measurement and α _{0 is} the angle between the vectors of the relative speed v of the target (12) and the relative radial speed v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration inclination a _{r of} the target object (12) during the first measurement.

4. The method according to any one of the preceding claims, characterized in that in step b) target object distances ri are measured at different times ti, and that the target object distance r via the relationship:

r = f (p, t) = A (r _Q cos (α ₀₎ + v ₀ t + at ^2/2) ² + (r ₀ sin (α ₀₎ f

where r _{0 is} the target distance in the first measurement, v _{0 is} the relative initial speed of the target (12) in the first measurement, a is the relative acceleration of the target (12), t is time, and α _{0 is} Angle between the vectors of the relative speed v of the target object (12) and the relative radial speed v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12) at the first measurement.

5. The method according to any one of the preceding claims, characterized in that in step b) relative radial speeds v _r , i of the target object (12) are measured at different times ti, and that the relative radial speed v _{r of} the target object (12) via the relationship : (v ₀ + at) (r ₀ cos (α ₀₎ + v ₀ t + at ^2/2) v _r = f (p, t) = ΛJX _Q cos (α ₀₎ + v ₀ t + at ^2/2 ) ² + (r ₀ sin (α ₀ ) f

where ro is the target distance in the first measurement, v _{0 is} the relative initial velocity of the target (12) in the first measurement, a is the relative acceleration of the target (12), t is time, and _{0 is} the angle between the vectors of the relative speed v of the target object (12) and the relative radial speed v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12) at the first measurement is.

6. The method according to any one of the preceding claims, characterized in that in step b) target object distances ri and relative radial speeds v _r , i are measured at different times ti, and that the relative radial speed v _{r of} the target object (12) via the relationship :

(v "+ at) (r ₀ cos ₍₀₎ + v ₀ t + at ^2/2 v _r = f (p, t, r) = ^u ° -

where ro is the target distance in the first measurement, vo is the relative initial velocity of the target (12) in the first measurement, a is the relative acceleration of the target (12), t is time, and α _{0 is} the angle between the vectors of the relative speed v of the target (12) and the relative radial velocity v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12) in the first measurement.

7. The method according to any one of the preceding claims, characterized in that a standard Q (p) is defined as follows to estimate the parameter values:

Q (p) = Qχ (p) = ||. _i ^k - f ^k (P. t |, with k = 1 or k = 2, or

Q (p) = Q ₂ (P) = [^ - f ^k (p, t I, with k = 1 or k = 2, or

Q (p) = Q ₃ (p) = 1 or k = 2.

8. The method according to any one of the preceding claims, characterized in that the parameter values for the parameters contained in vector p are estimated on the basis of the measured values.

9. The method according to any one of the preceding claims, characterized in that the parameter values for the parameters contained in the vector p are estimated by means of the times ti and the measured values i for the target object distances and / or the measured values i for the relative radial speeds using an optimization method by the minimum of the norm Q (p) is determined.

10. Device for outputting parameter values that determine the relative kinematic behavior of an object (10). relate in particular to a first vehicle (10) and a target object (12), in particular a second vehicle (12), it being possible to make a statement based on the parameter values as to whether the object (10) and the target object (12) are likely to collide , With:

a sensor system (11) which is arranged on the object (10), the sensor system (11) being provided for transmitting and receiving signals in order to obtain measured values _r 1, _r , i for the target object distance r and / or for the relative radial velocity v _{r of} the target object (12), and

Means for evaluating the measured values r 1, v _ri and outputting the parameter values,

characterized in that the means carry out the evaluation on the basis of the signals received by only one of the receivers assigned to the sensor system (11).

11. The device according to claim 10, characterized in that the parameter values relate to at least one or more of the following parameters: the relative acceleration a of the target object (12), the relative radial acceleration a _{r of} the target object, the relative speed v of the target object (12 ), the relative radial speed v _{r of} the target object (12), the offset Δy between the object (10) and the target object (12), the angle α between the vectors of the relative speed v of the target object (12) and the relative radial speed v _{r of} the target object (12) or between the Vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12).

12. The device according to claim 10 or claim 11, characterized in that for evaluating the measured values ri, _r , i detected by the sensor system (11), a vector p is provided which contains at least some of the parameters sought, the vector p having the shape

p = [a, v ₀ , α ₀ ]

where a is the relative acceleration of the target (12), v _{0 is} the relative initial speed of the target (12) in the first measurement and αo is the angle between the vectors of the relative speed v of the target (12) and the relative radial speed v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12) in the first measurement.

13. Device according to one of claims 10 to 12, characterized in that the sensor system (11) detects measured values for target object distances r ± at different times ti, and that the means determine the target object distance r via the relationship:

r = f _. p, t) = ^ (ro cos ₍₀₎ + v ₀ t + at ^2/2) ² + (r ₀ sin (α ₀₎ f describe, where ro is the target distance in the first measurement, v _{0 is} the relative initial speed of the target (12) in the first measurement, a is the relative acceleration of the target (12), t is time, and c_o is the angle between the Vectors of the relative speed v of the target object (12) and the relative radial speed v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12) at the first Measurement is.

14. Device according to one of claims 10 to 13, characterized in that the sensor system (11) detects measured values for relative radial speeds v _r , i of the target object (12) at different times ti, and that the means determine the relative radial speed v _{r of} the target object (12) about the context:

(v ₀ + at) (r ₀ cos ₍₀₎ + v ₀ t + at ^2/2) v = f (P, t) =

Jr ₀ cos (α ₀₎ + v ₀ t + at ^2/2) ² + (r ₀ sin (α ₀₎ f

describe, where ro is the target distance in the first measurement, v _{0 is} the relative initial speed of the target (12) in the first measurement, a is the relative acceleration of the target (12), t is time, and _{0 is} the angle between the Vectors of the relative speed v of the target object (12) and the relative radial speed v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12) during the first measurement.

15. Device according to one of claims 10 to 14, characterized in that the sensor system (11) detects measured values for target object distances ri and measured values for relative radial speeds v _r , i at different times ti, and that the means determine the relative radial speed v _r of the target object (12) about the context:

(v ₀ + at) (r ₀ cos ₍₀₎ + v ₀ t + at ^2/2 v f (p, t, r) =

describe, where ro is the target distance in the first measurement, Vo is the relative initial velocity of the target (12) in the first measurement, a is the relative acceleration of the target (12), t is time, and cto is the angle between the vectors the relative speed v of the target object (12) and the relative radial speed v _{r of} the target object (12) or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a _{r of} the target object (12) in the first measurement is.

16. Device according to one of claims 10 to 15, characterized in that the means for estimating the parameter values define a standard Q (p) as follows:

QP) = Qι (p) = | ^k - f (p, tl, with k = 1 or k = 2, or Q (p) = Q ₂ (p) = 'v, - f (p, "t ^) J (, with k = 1 or k = 2, or

Q (p) = Q ₃ (p) = ^v if ^κ (p, t _± , rl, with k = 1 or k = 2.

17. Device according to one of claims 10 to 16, characterized in that the means estimate the parameter values for the parameters contained in the vector p on the basis of the measured values.

18. Device according to one of claims 10 to 17, characterized in that the means the parameter values for the parameters contained in the vector p on the basis of the times ti and the measured values ∑χ for the target object distances and / or the measured values for the relative radial speeds via an optimization method estimate by determining the minimum of the norm Q (p).